基于改进人工势场法的双机械臂避障路径规划

薛阳; 俞志程; 吴海东; 张宁; 孙越

doi:10.16578/j.issn.1004.2539.2020.03.007

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基于改进人工势场法的双机械臂避障路径规划

理论研究 | 更新时间：2022-10-20

- 基于改进人工势场法的双机械臂避障路径规划
- Obstacle Avoidance Path Planning for Double Manipulator based on Improved Artificial Potential Field Method
- 机械传动 2020年44卷第3期页码：39-45
- 作者机构：
  
  1.上海电力学院自动化工程学院，上海 200090
- 作者简介：
  
  薛阳（1976— ），男，江苏无锡人，博士，副教授，硕士生导师，主要研究领域为智能控制、机器人、光伏发电与微电网。
- 基金信息：
  
  国网浙江省电力有限公司科技项目(5211HZ17000F);国家自然科学青年基金(51405286);上海市电站自动化技术重点实验室(13DZ2273800)
- DOI：10.16578/j.issn.1004.2539.2020.03.007
  中图分类号：
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薛阳,俞志程,吴海东等.基于改进人工势场法的双机械臂避障路径规划[J].机械传动,2020,44(03):39-45.

Xue Yang Yu Zhicheng Wu Haidong Zhang Ning Sun Yue.Obstacle Avoidance Path Planning for Double Manipulator based on Improved Artificial Potential Field Method[J].Journal of Mechanical Transmission,2020,44(03):39-45.
薛阳,俞志程,吴海东等.基于改进人工势场法的双机械臂避障路径规划[J].机械传动,2020,44(03):39-45. DOI： 10.16578/j.issn.1004.2539.2020.03.007.

Xue Yang Yu Zhicheng Wu Haidong Zhang Ning Sun Yue.Obstacle Avoidance Path Planning for Double Manipulator based on Improved Artificial Potential Field Method[J].Journal of Mechanical Transmission,2020,44(03):39-45. DOI： 10.16578/j.issn.1004.2539.2020.03.007.

摘要

针对双6自由度机械臂提出了一种基于改进人工势场法的避障路径规划算法。分析了双机械臂的协作工作空间，确认了双臂自碰撞的可能。针对静态障碍物对主机械臂进行避障运动规划，完成主机械臂路径规划后，再将主机械臂作为从机械臂运动时的动态障碍物，为从机械臂规划避障运动路径。利用新的势能函数代替传统人工势场法的势能函数，对双机械臂进行避障路径规划；由于传统人工势场法在机械臂避障路径规划中容易陷入局部极小值的缺陷，因此，增加了虚拟吸引点，避免机械臂陷入局部极小值。仿真实验表明，该方法实现简单，满足双机械臂避障的要求，能够有效地为双机械臂规划出无碰撞路径。

Abstract

An obstacle avoidance path planning algorithm based on improved artificial potential field method is proposed for dual 6-DOF manipulator. Firstly，the cooperative working space of double manipulator is analyzed，and the possibility of self-collision is confirmed. Secondly，obstacle avoidance motion planning is carried out for the main arm against static obstacles，and path planning for the main arm is completed. Then，the main arm is taken as the dynamic obstacle when the slave arm moves，and obstacle avoidance motion path is planned for the slave arm. The new potential energy function is used to replace the potential energy function of the traditional artificial potential field method to carry out obstacle avoidance path planning for the double manipulator. Since the traditional artificial potential field method is easy to fall into the defect of local minimum value in the obstacle avoidance path planning of the manipulator，the virtual attraction point is added to avoid this situation. Simulation results show that this method is easily realized and can meet the requirements of double manipulator obstacle avoidance. It can effectively plan a collision-free path for the dual 6-DOF manipulator.

关键词

路径规划机械臂人工势场法

Keywords

Path planningMechanical armArtificial potential field method

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